基于圆柱凸轮机构的管外爬行机器人机构设计

Design of the Crawling Robot outside of the Pipe Based on the Cylinder Cam Mechanism

对直动推杆圆柱凸轮机构在管外爬行机器人机构设计方面的应用进行了有益的探索,通过对直动推杆圆柱凸轮机构的结构、运动特征的分析,阐述了其能够实现爬行运动的可能性,并对机构的组成进行改进以实现管外爬行机器人的机构设计,运动分析表明该设计结果可行。

This paper studies the application of the straight push cam mechanism in the crawling robot outside of the pipe.Based on the analysis of the structure and the motion feature of the straight push cam mechanism, the feasibility of the crawling action is discussed. One design is achieved based on the combined mechanism with two cylinder cam mechanisms.The kinematic analysis proves the feasibility of the design.